CN110999763A - Agricultural is with irrigating robot - Google Patents
Agricultural is with irrigating robot Download PDFInfo
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- CN110999763A CN110999763A CN201911409764.5A CN201911409764A CN110999763A CN 110999763 A CN110999763 A CN 110999763A CN 201911409764 A CN201911409764 A CN 201911409764A CN 110999763 A CN110999763 A CN 110999763A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
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- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention relates to the technical field of agricultural robots, in particular to an agricultural irrigation robot, which comprises a crawler walking device and an underframe, wherein one end of the top of the underframe is provided with a water tank, the other end of the underframe is provided with a controller, a rotary adjusting component is arranged above the water tank, one end of the rotary component is provided with a camera, the rotary adjusting component comprises a rotary table, the top of the rotary table is provided with a lifting component, the lifting component comprises a lifting plate, two sides of the top of the lifting plate are respectively provided with a horizontal moving component, the output end of each horizontal moving component is respectively provided with a turning component, the output end of each turning component is respectively provided with an irrigation spray head, and a bidirectional driving component is arranged between the two horizontal moving components, the flexibility of irrigation spraying is improved, the irrigation range is improved, water pipe traction and water injection are not needed, and labor time is saved.
Description
Technical Field
The invention relates to the technical field of agricultural robots, in particular to an agricultural irrigation robot.
Background
Along with the development of science and technology, the development of agriculture gradually develops towards automation and intellectualization, as the agricultural land is uniformly concentrated at present, the agricultural operation work gradually approaches towards integration and standardization, and the agricultural development can not leave various mechanical equipment, so the agricultural robot is beneficial to improving the agricultural production mode, relieving the labor pressure, developing precise agriculture and green agriculture, improving the agricultural production efficiency and promoting the agricultural scientific and technological innovation, and the agricultural irrigation robot has important significance in irrigating agricultural products, reducing the daily workload of growers, saving the irrigation time of the growers, and the irrigation efficiency of the irrigation robot is far higher than that of manual irrigation, and the existing irrigation robot has some defects when in use and can not meet the requirements of crops with different heights in the use process, the work application scope that leads to irrigating robot is little, can't adjust the angle of irrigation shower nozzle, makes the irrigation spray the angle restricted, needs the water pipe to pull and the water injection when irrigating, leads to wasted time and manual work, consequently, we have provided an agricultural with irrigating robot to in order to solve the above-mentioned problem of proposing.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an agricultural irrigation robot, and the technical scheme is to adjust the irrigation height, so that the irrigation robot can irrigate crops with different heights, adjust the irrigation spraying angle, improve the irrigation spraying flexibility and the irrigation range, and save labor time without water pipe traction and water injection.
In order to solve the technical problems, the invention provides the following technical scheme:
an agricultural irrigation robot comprises a crawler traveling device and a chassis, wherein a water tank is arranged at one end of the top of the chassis, a controller is arranged at the other end of the chassis, a rotation adjusting assembly is arranged above the water tank, a camera is arranged at one end of the rotation adjusting assembly, the interior of the rotation adjusting assembly is fixedly connected with the chassis, the rotation adjusting assembly comprises a horizontal rotary table capable of rotating, a lifting assembly is arranged at the top of the rotary table and comprises a horizontal lifting plate capable of lifting, horizontal moving assemblies extending towards the two sides of the lifting plate in a horizontal mode are respectively arranged on the two sides of the top of the lifting plate, a turnover assembly is respectively arranged at the output end of each horizontal moving assembly, an irrigation spray nozzle is respectively arranged at the output end of each turnover assembly, each irrigation spray nozzle is respectively communicated with the interior of the water tank through a first water pipe, a bidirectional driving assembly is arranged between the, the bidirectional driving assembly is connected with the top of the lifting plate, the output end of the bidirectional driving assembly is respectively connected with the internal transmission of each horizontal moving assembly, and the controller is respectively electrically connected with the water tank, the rotation adjusting assembly, the camera, the lifting assembly, the bidirectional driving assembly and the internal electric connection of each overturning assembly.
Preferably, the rotation adjusting assembly further comprises a horizontal bracket, a first motor, a main synchronizing wheel, an auxiliary synchronizing wheel and a rotation shaft, the horizontal bracket is horizontally positioned above the water tank, each corner at the bottom of the horizontal bracket is respectively fixedly connected with the top of the bottom frame through the first bracket, the turntable is horizontally arranged above the horizontal bracket, the rotation shaft is vertically arranged at the center of the bottom of the turntable, the bottom of the rotation shaft can rotatably penetrate through two sides of the top of the horizontal bracket to extend downwards, the auxiliary synchronizing wheel is horizontally and fixedly arranged at the extending end of the rotation shaft, the main synchronizing wheel is horizontally positioned at one side of the horizontal bracket, the first motor is vertically positioned below the main synchronizing wheel, the output end of the first motor is fixedly connected with the center of the bottom of the main synchronizing wheel, the main synchronizing wheel is in transmission connection with the auxiliary synchronizing wheel through a synchronous belt, and the first motor is fixedly connected with the top of the bottom frame through a second bracket, the camera passes through L type frame and horizontal stand's one end fixed connection, and first motor is connected with the controller electricity.
Preferably, the top of horizontal stand is equipped with annular slide rail, and the bottom of carousel is equipped with four first sliders that set up along carousel circumferencial direction evenly distributed, and every first slider can gliding setting in annular slide rail's inside respectively.
Preferably, the lifting assembly further comprises a rectangular fixing frame, a lifting frame, a second motor, a winding wheel, a guide wheel and two bearing seats, the rectangular fixing frame is vertically and fixedly arranged at the top of the rotary table, the lifting frame is vertically arranged inside the rectangular fixing frame, one side of the bottom of the lifting frame is fixedly connected with one end of the lifting plate, the two bearing seats are respectively vertically and fixedly arranged at the upper end of one side of the rectangular fixing frame far away from the lifting plate, the winding wheel is horizontally and rotatably arranged between the two bearing seats, the second motor is horizontally and fixedly arranged at one end of one of the bearing seats, the output end of the second motor is fixedly connected with one end of the winding wheel, the winding wheel is provided with a steel rope, the guide wheel is vertically arranged at the top end inside the rectangular fixing frame, the guide wheel is fixedly arranged at the top end inside the rectangular fixing frame through a hinged seat, and one end, the second motor is electrically connected with the controller.
Preferably, linear slide rails are respectively arranged on two sides of the interior of the rectangular fixing frame, and second slide blocks capable of sliding in each linear slide rail are respectively arranged on two sides of the lifting frame.
Preferably, each horizontal moving component comprises a vertical fixed sleeve, a horizontal connecting plate, a fixed sleeve rod, a threaded rod and a lead screw sliding block, wherein the vertical fixed sleeve is vertically and fixedly arranged on one side of the top of the lifting plate, the fixed sleeve rod is horizontally and fixedly arranged on one side of the vertical fixed sleeve away from the lifting plate, two ends of the inside of the fixed sleeve rod are respectively provided with a bearing sleeve, the threaded rod is horizontally arranged inside the fixed sleeve rod, two ends of the threaded rod are respectively inserted into the inner rings of each bearing sleeve in a rotatable manner, the horizontal connecting rod plate is horizontally arranged above the fixed sleeve rod, one end of the horizontal connecting rod plate is fixedly connected with one side of the vertical fixed sleeve rod, the other end of the horizontal connecting plate is fixedly connected with one end of the fixed sleeve rod through a supporting plate, the lead screw sliding block is arranged on the threaded rod, the lead screw sliding block is in threaded connection with the, be equipped with on the fixed loop bar and be used for supplying the gliding spout of sliding block, the extension end of sliding block and the inside fixed connection of upset subassembly.
Preferably, the bidirectional driving assembly comprises a double-shaft motor, two first bevel gears and two second bevel gears, the double-shaft motor is horizontally and fixedly installed at the top of the lifting plate, one end, adjacent to each threaded rod, of each horizontal moving assembly is provided with a guide post respectively, each second bevel gear is vertically and fixedly installed at one end of each guide post respectively, each first bevel gear is fixedly connected with each output end of the rotary shaft motor respectively, each first bevel gear is in threaded connection with each second bevel gear respectively, and the double-shaft motor is electrically connected with the controller.
Preferably, every upset subassembly all includes horizontal plate, third motor, bearing bracket and commentaries on classics board, and the horizontal plate is horizontal fixed mounting in the bottom of sliding block, and the third motor is horizontal fixed mounting in the bottom of horizontal plate, and the bearing bracket is vertical fixed mounting in the bottom one end of horizontal plate, and the output of third motor can the pivoted pass the two sides of bearing bracket and outwards extend, changes the board and is the output of vertical fixed mounting at the third motor, irrigates the shower nozzle and changes the one side fixed connection that the bearing bracket was kept away from to the board through solid fixed ring, and the third motor is connected with the controller electricity.
Preferably, a water pump is arranged at one end of the top of the horizontal support and is communicated with the water tank through a second water pipe, the water pump is communicated with the first water pipe on each irrigation nozzle, and the water pump is electrically connected with the controller.
Compared with the prior art, the invention has the beneficial effects that:
an agricultural irrigation robot, during operation, equipment is moved to a position to be irrigated through a crawler traveling device, a controller controls a second motor, the second motor drives a winding wheel to rotate, a steel rope is lifted by the winding wheel through a guide wheel, a lifting plate, each horizontal moving assembly and each overturning assembly are driven by the lifting frame to lift until the lifting frame reaches a required height, when the lifting frame is lifted, each linear slide rail and each second sliding block which are arranged play a role in limiting movement, the controller controls a double-shaft motor, the double-shaft motor drives each first bevel gear to rotate, each first bevel gear drives each second bevel gear to rotate, each second bevel gear drives each threaded rod on each horizontal moving assembly to rotate through a guide column, each threaded rod rotates to drive each lead screw sliding block to horizontally move along each threaded rod, each overturning component is driven to move to a required position by each sliding block and stop, the controller controls the first motor, the main synchronizing wheel is driven to rotate by the first motor, the main synchronizing wheel drives the auxiliary synchronizing wheel to rotate by the synchronous belt, the auxiliary synchronizing wheel drives the rotating shaft to rotate, the rotating shaft drives the rotating disc to rotate and adjust, the lifting component is driven by the rotating disc, each horizontal moving component and each overturning component are driven to rotate and adjust horizontally until the required position is adjusted and stop, the arranged camera can observe by three hundred sixty degrees, the equipment can conveniently run and observe, the rotating disc rotates to enable the arranged annular slide rails and each first sliding block to play a role in limiting movement, the controller controls each third motor, each third motor drives the rotating plate to rotate, and simultaneously drives each irrigation spray nozzle to overturn and adjust until each irrigation spray nozzle is adjusted to a required angle and stops, after the height and the angle of the needs of every irrigation sprinkler adjustment, controller control water pump makes every irrigation sprinkler spray through second water pipe and every first water pipe respectively with the moisture in the water tank through the water pump, and this technical scheme has solved and has irrigated altitude mixture control, makes irrigation robot can carry out not co-altitude crops and irrigate, and can adjust the angle that irrigates and spray, improve the flexibility that irrigates and spray, improve the irrigation scope, and do not need the water pipe to pull and the water injection, practice thrift the artificial time.
Drawings
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is an enlarged view of the invention at A in FIG. 1;
FIG. 3 is a schematic perspective view of the present invention;
FIG. 4 is an enlarged view of the invention at B in FIG. 3;
FIG. 5 is a front view of the present invention;
FIG. 6 is a side view of the present invention;
FIG. 7 is an enlarged view of the invention at C of FIG. 6;
FIG. 8 is a partial top view of the horizontal motion assembly of the present invention;
FIG. 9 is a cross-sectional view taken along D-D of FIG. 8 of the present invention;
fig. 10 is an enlarged view of the invention at F in fig. 8.
The reference numbers in the figures are:
1-a crawler belt walking device; 2-a water tank; 3-a controller; 4-a camera; 5-a chassis; 6, rotating a disc; 7-a lifting plate; 8-irrigation spray head; 9-horizontal support; 10-a first electric machine; 11-a primary synchronizing wheel; 12-a secondary synchronizing wheel; 13-a rotating shaft; 14-an annular slide rail; 15-a first slider; 16-a rectangular holder; 17-a lifting frame; 18-a second electric machine; 19-a winding wheel; 20-a guide wheel; 21-a bearing seat; 22-steel cord; 23-a hinged seat; 24-a linear slide rail; 25-a second slide; 26-vertical fixation sleeves; 27-a horizontal connecting plate; 28-fixing the loop bar; 29-threaded rod; 30-a screw rod slide block; 31-a bearing sleeve; 32-a slider; 33-a two-shaft motor; 34-a first bevel gear; 35-second taper teeth; 36-a guide post; 37-horizontal plate; 38-a third motor; 39-a bearing frame; 40-rotating the plate; 41-a water pump; 42-a first water pipe; 43-second water pipe.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1 to 10, an agricultural irrigation robot comprises a crawler 1 and a chassis 5, wherein a water tank 2 is arranged at one end of the top of the chassis 5, a controller 3 is arranged at the other end of the chassis 5, a rotation adjusting assembly is arranged above the water tank 2, a camera 4 is arranged at one end of the rotation assembly, the interior of the rotation adjusting assembly is fixedly connected with the chassis 5, the rotation adjusting assembly comprises a horizontal and rotatable turntable 6, a lifting assembly is arranged at the top of the turntable 6, the lifting assembly comprises a lifting plate 7 which is horizontal and can be lifted, horizontal moving assemblies which horizontally extend to two sides of the lifting plate 7 are respectively arranged at two sides of the top of the lifting plate 7, an overturning assembly is respectively arranged at the output end of each horizontal moving assembly, an irrigation nozzle 8 is respectively arranged at the output end of each overturning assembly, each irrigation nozzle 8 is respectively communicated with the interior of the water tank 2 through a first water pipe 42, be equipped with two-way drive assembly between two horizontal migration subassemblies, two-way drive assembly is connected with the top of lifter plate 7, and two-way drive assembly's output is connected with every horizontal migration subassembly's internal transmission respectively, and controller 3 is connected with the inside electricity of water tank 2, rotation regulation subassembly, camera 4, lifting unit, two-way drive assembly and every upset subassembly respectively.
The rotary adjusting component further comprises a horizontal support 9, a first motor 10, a main synchronizing wheel 11, an auxiliary synchronizing wheel 12 and a rotating shaft 13, the horizontal support 9 is horizontally positioned above the water tank 2, each corner of the bottom of the horizontal support 9 is respectively fixedly connected with the top of the bottom frame 5 through the first support, the rotary table 6 is horizontally arranged above the horizontal support 9, the rotating shaft 13 is vertically arranged at the center of the bottom of the rotary table 6, the bottom of the rotating shaft 13 can rotatably penetrate through two sides of the top of the horizontal support 9 to extend downwards, the auxiliary synchronizing wheel 12 is horizontally and fixedly arranged at the extending end of the rotating shaft 13, the main synchronizing wheel 11 is horizontally positioned at one side of the horizontal support 9, the first motor 10 is vertically positioned below the main synchronizing wheel 11, the output end of the first motor 10 is fixedly connected with the center of the bottom of the main synchronizing wheel 11, the main synchronizing wheel 11 is in transmission connection with the auxiliary synchronizing wheel 12 through a synchronous belt, first motor 10 passes through the top fixed connection of second support and chassis 5, camera 4 passes through the one end fixed connection of L type frame with horizontal stand 9, first motor 10 is connected with 3 electricity of controller, the first motor 10 of controller 3 control, it is rotatory to drive main synchronizing wheel 11 through first motor 10, main synchronizing wheel 11 drives vice synchronizing wheel 12 through the hold-in range and rotates, vice synchronizing wheel 12 drives rotation axis 13 rotatory, rotation axis 13 drives carousel 6 and carries out rotation regulation, drive lifting unit through carousel 6, every horizontal migration subassembly and every upset subassembly carry out horizontal rotation regulation, position to the needs of adjusting stops, the camera 4 of setting can be observed by three hundred sixties degrees, be convenient for equipment to travel and observe.
The top of horizontal stand 9 is equipped with annular slide rail 14, and the bottom of carousel 6 is equipped with four first sliders 15 that set up along 6 circumferencial direction evenly distributed of carousel, and every first slider 15 can gliding setting respectively in the inside of annular slide rail 14, and carousel 6 is rotatory to be made, and the annular slide rail 14 and every first slider 15 that set up play spacing removal's effect.
The lifting assembly further comprises a rectangular fixing frame 16, a lifting frame 17, a second motor 18, a winding wheel 19, a guide wheel 20 and two bearing seats 21, the rectangular fixing frame 16 is vertically and fixedly arranged at the top of the turntable 6, the lifting frame 17 is vertically arranged in the rectangular fixing frame 16, one side of the bottom of the lifting frame 17 is fixedly connected with one end of the lifting plate 7, the two bearing seats 21 are respectively vertically and fixedly arranged at the upper end of one side of the rectangular fixing frame 16 far away from the lifting plate 7, the winding wheel 19 is horizontally and rotatably arranged between the two bearing seats 21, the second motor 18 is horizontally and fixedly arranged at one end of one of the bearing seats 21, the output end of the second motor 18 is fixedly connected with one end of the winding wheel 19, a steel rope 22 is arranged on the winding wheel 19, the guide wheel 20 is vertically arranged at the top end of the rectangular fixing frame 16, the guide wheel 20 is fixedly arranged at the top end of the, one end of a steel rope 22 is fixedly connected with the top of the lifting frame 17 through a guide wheel 20, a second motor 18 is electrically connected with a controller 3, during operation, the device is moved to a position needing irrigation through the crawler walking device 1, the controller 3 controls the second motor 18, the second motor 18 drives a winding wheel 19 to rotate, the winding wheel 19 enables the lifting frame 17 to lift the steel rope 22 through the guide wheel 20, and the lifting frame 17 drives the lifting plate 7, each horizontal moving assembly and each overturning assembly to lift until the lifting frame is lifted to a required height and stopped.
The inside both sides of rectangle mount 16 are equipped with linear slide rail 24 respectively, and the both sides of crane 17 are equipped with respectively and can be in the inside gliding second slider 25 of every linear slide rail 24, and when crane 17 goes up and down, every linear slide rail 24 and every second slider 25 that set up play the effect of spacing removal.
Each horizontal moving component comprises a vertical fixing sleeve 26, a horizontal connecting plate 27, a fixing sleeve rod 28, a threaded rod 29 and a lead screw slider 30, the vertical fixing sleeve 26 is vertically and fixedly arranged on one side of the top of the lifting plate 7, the fixing sleeve rod 28 is horizontally and fixedly arranged on one side of the vertical fixing sleeve 26 away from the lifting plate 7, two ends of the inside of the fixing sleeve rod 28 are respectively provided with a bearing sleeve 31, the threaded rod 29 is horizontally arranged inside the fixing sleeve rod 28, two ends of the threaded rod 29 are respectively and rotatably inserted into the inner ring of each bearing sleeve 31, the horizontal connecting rod plate is horizontally arranged above the fixing sleeve rod 28, one end of the horizontal connecting rod plate is fixedly connected with one side of the vertical fixing sleeve 26, the other end of the horizontal connecting plate 27 is fixedly connected with one end of the fixing sleeve rod 28 through a support plate, the lead screw slider 30 is arranged on the threaded rod 29, and the, the bottom of lead screw slider 30 is equipped with the sliding block 32 that extends to fixed loop bar 28 below, is equipped with on the fixed loop bar 28 to be used for supplying the gliding spout of sliding block 32, and the inside fixed connection of the extension end of sliding block 32 and upset subassembly, every threaded rod 29 is rotatory to drive every lead screw slider 30 along every threaded rod 29 horizontal migration to it stops to drive every upset subassembly through every sliding block 32 and remove to required position.
The bi-directional drive assembly includes a dual-shaft motor 33, two first awl teeth 34 and two second awl teeth 35, double-shaft motor 33 is horizontal fixed mounting at the top of lifter plate 7, the one end that every threaded rod 29 on two horizontal migration subassemblies is adjacent is equipped with guide post 36 respectively, every second awl tooth 35 is the one end of vertical fixed mounting at every guide post 36 respectively, every first awl tooth 34 respectively with every output end fixed connection of pivot motor, every first awl tooth 34 respectively with every second awl tooth 35 threaded connection, double-shaft motor 33 is connected with controller 3 electricity, controller 3 control double-shaft motor 33, double-shaft motor 33 drives every first awl tooth 34 rotatory, every first awl tooth 34 drives every second awl tooth 35 respectively rotatory, every second awl tooth 35 drives every threaded rod 29 on every horizontal migration subassembly rotatory through guide post 36 respectively.
Every upset subassembly all includes horizontal plate 37, third motor 38, bearing bracket 39 and commentaries on classics board 40, horizontal plate 37 is horizontal fixed mounting in the bottom of sliding block 32, third motor 38 is horizontal fixed mounting in the bottom of horizontal plate 37, bearing bracket 39 is vertical fixed mounting in the bottom one end of horizontal plate 37, the output of third motor 38 can the pivoted pass the outside extension in two sides of bearing bracket 39, it is vertical fixed mounting in the output of third motor 38 to change board 40, irrigation sprinkler 8 keeps away from the one side fixed connection of bearing bracket 39 through solid fixed ring and commentaries on classics board 40, third motor 38 is connected with controller 3 electricity, every third motor 38 of controller 3 control, it is rotatory to drive commentaries on classics board 40 through every third motor 38, it overturns the adjustment to drive every irrigation sprinkler 8 simultaneously, adjust to required angle to stop until with every irrigation sprinkler 8.
One end of the top of the horizontal support 9 is provided with a water pump 41, the water pump 41 is communicated with the water tank 2 through a second water pipe 43, the water pump 41 is communicated with a first water pipe 42 on each irrigation nozzle 8, the water pump 41 is electrically connected with the controller 3, after the required height and angle of each irrigation nozzle 8 are adjusted, the controller 3 controls the water pump 41, and water in the water tank 2 is sprayed by each irrigation nozzle 8 through the water pump 41 through the second water pipe 43 and each first water pipe 42 respectively.
The working principle is as follows: during operation, the crawler 1 moves the equipment to the position to be irrigated, the controller 3 controls the second motor 18, the second motor 18 drives the winding wheel 19 to rotate, the winding wheel 19 enables the steel rope 22 to go up and down through the guide wheel 20, the lifting frame 17 drives the lifting plate 7, each horizontal moving component and each overturning component to go up and down through the lifting frame 17 until the lifting frame reaches the required height, when the lifting frame 17 goes up and down, each linear slide rail 24 and each second sliding block 25 which are arranged play a role in limiting movement, the controller 3 controls the double-shaft motor 33, the double-shaft motor 33 drives each first conical tooth 34 to rotate, each first conical tooth 34 drives each second conical tooth 35 to rotate, each second conical tooth 35 drives each threaded rod 29 on each horizontal moving component to rotate through the guide column 36, each threaded rod 29 drives each lead screw slider 30 to horizontally move along each threaded rod 29, each overturning component is driven to move to a required position by each sliding block 32 to stop, the controller 3 controls the first motor 10, the main synchronizing wheel 11 is driven to rotate by the first motor 10, the main synchronizing wheel 11 drives the auxiliary synchronizing wheel 12 to rotate by the synchronous belt, the auxiliary synchronizing wheel 12 drives the rotating shaft 13 to rotate, the rotating shaft 13 drives the rotating disc 6 to rotate and adjust, the lifting component, each horizontal moving component and each overturning component are driven to horizontally rotate and adjust by the rotating disc 6 until the required position is adjusted to stop, the arranged camera 4 can observe at three hundred sixty degrees, the equipment is convenient to drive and observe, the rotating disc 6 rotates, the arranged annular sliding rail 14 and each first sliding block 15 play a role in limiting movement, the controller 3 controls each third motor 38, the rotating plate 40 is driven to rotate by each third motor 38, and each irrigation nozzle 8 is simultaneously driven to overturn and adjust, until each irrigation nozzle 8 is adjusted to a required angle, the controller 3 controls the water pump 41 to spray water from the water tank 2 through the water pump 41 via the second water pipe 43 and each first water pipe 42 by adjusting the height and angle of each irrigation nozzle 8 to the required angle.
Claims (9)
1. An agricultural irrigation robot comprises a crawler walking device (1) and is characterized by further comprising an underframe (5), a water tank (2) is arranged at one end of the top of the underframe (5), a controller (3) is arranged at the other end of the underframe (5), a rotation adjusting assembly is arranged above the water tank (2), a camera (4) is arranged at one end of the rotation assembly, the interior of the rotation adjusting assembly is fixedly connected with the underframe (5), the rotation adjusting assembly comprises a horizontal rotary table (6) capable of rotating, a lifting assembly is arranged at the top of the rotary table (6), the lifting assembly comprises a horizontal lifting plate (7) capable of lifting, horizontal moving assemblies extending towards the two sides of the lifting plate (7) are respectively arranged at the two sides of the top of the lifting plate (7), a turnover assembly is respectively arranged at the output end of each horizontal moving assembly, an irrigation spray head (8) is respectively arranged at the output end of each turnover assembly, every irrigation sprinkler (8) is respectively through the inside intercommunication of first water pipe (42) and water tank (2), be equipped with two-way drive assembly between two horizontal migration subassemblies, two-way drive assembly is connected with the top of lifter plate (7), two-way drive assembly's output is connected with every horizontal migration subassembly's internal drive respectively, controller (3) are connected with water tank (2), rotation regulation subassembly, camera (4), lifting unit, two-way drive assembly and every upset subassembly's inside electricity respectively.
2. The agricultural irrigation robot as claimed in claim 1, wherein the rotation adjustment assembly further comprises a horizontal bracket (9), a first motor (10), a main synchronizing wheel (11), an auxiliary synchronizing wheel (12) and a rotation shaft (13), the horizontal bracket (9) is horizontally located above the water tank (2), each corner of the bottom of the horizontal bracket (9) is fixedly connected with the top of the bottom frame (5) through the first bracket, the rotary table (6) is horizontally arranged above the horizontal bracket (9), the rotation shaft (13) is vertically arranged at the center of the bottom of the rotary table (6), the bottom of the rotation shaft (13) can rotate and passes through the top of the horizontal bracket (9) to extend downwards from two sides, the auxiliary synchronizing wheel (12) is horizontally and fixedly installed at the extending end of the rotation shaft (13), the main synchronizing wheel (11) is horizontally located at one side of the horizontal bracket (9), first motor (10) are the vertical below that is located main synchronizing wheel (11), the output of first motor (10) and the bottom center department fixed connection of main synchronizing wheel (11), main synchronizing wheel (11) are connected through hold-in range and vice synchronizing wheel (12) transmission, first motor (10) are through the top fixed connection of second support with chassis (5), camera (4) are through the one end fixed connection of L type frame with horizontal stand (9), first motor (10) are connected with controller (3) electricity.
3. An agricultural irrigation robot as claimed in claim 2, wherein the top of the horizontal support (9) is provided with an annular slide rail (14), the bottom of the rotary table (6) is provided with four first slide blocks (15) uniformly distributed along the circumferential direction of the rotary table (6), and each first slide block (15) is slidably arranged inside the annular slide rail (14).
4. The agricultural irrigation robot as claimed in claim 3, wherein the lifting assembly further comprises a rectangular fixing frame (16), a lifting frame (17), a second motor (18), a winding wheel (19), a guide wheel (20) and two bearing seats (21), the rectangular fixing frame (16) is vertically and fixedly installed at the top of the turntable (6), the lifting frame (17) is vertically arranged inside the rectangular fixing frame (16), one side of the bottom of the lifting frame (17) is fixedly connected with one end of the lifting plate (7), the two bearing seats (21) are respectively vertically and fixedly installed at the upper end of one side, away from the lifting plate (7), of the rectangular fixing frame (16), the winding wheel (19) is horizontally and rotatably arranged between the two bearing seats (21), the second motor (18) is horizontally and fixedly installed at one end of one of the bearing seats (21), the output of second motor (18) and the one end fixed connection of wind-up wheel (19), be equipped with steel cable (22) on wind-up wheel (19), leading wheel (20) are vertical setting on the inside top of rectangle mount (16), leading wheel (20) are through articulated seat (23) fixed mounting on the inside top of rectangle mount (16), the top fixed connection of one end process leading wheel (20) and crane (17) of steel cable (22), second motor (18) are connected with controller (3) electricity.
5. An agricultural irrigation robot as claimed in claim 4, wherein the rectangular fixing frame (16) is provided with linear slide rails (24) on two inner sides, and the lifting frame (17) is provided with second sliding blocks (25) capable of sliding inside each linear slide rail (24) on two inner sides.
6. The agricultural irrigation robot as claimed in claim 5, wherein each horizontal moving component comprises a vertical fixing sleeve (26), a horizontal connecting plate (27), a fixing sleeve rod (28), a threaded rod (29) and a screw rod slider (30), the vertical fixing sleeve (26) is vertically and fixedly installed on one side of the top of the lifting plate (7), the fixing sleeve rod (28) is horizontally and fixedly installed on one side of the vertical fixing sleeve (26) far away from the lifting plate (7), two ends of the inside of the fixing sleeve rod (28) are respectively provided with a bearing sleeve (31), the threaded rod (29) is horizontally arranged inside the fixing sleeve rod (28), two ends of the threaded rod (29) are respectively rotatably inserted into the inner ring of each bearing sleeve (31), the horizontal connecting rod plate is horizontally arranged above the fixing sleeve rod (28), one end of the horizontal connecting rod plate is fixedly connected with one side of the vertical fixing sleeve (26), the other end of horizontal connecting plate (27) passes through the one end fixed connection of extension board and fixed loop bar (28), lead screw slider (30) set up on threaded rod (29), lead screw slider (30) and threaded rod (29) threaded connection, the bottom of lead screw slider (30) is equipped with sliding block (32) to extending below fixed loop bar (28), be equipped with on fixed loop bar (28) and be used for supplying the gliding spout of sliding block (32), the inside fixed connection of the extension end and the upset subassembly of sliding block (32).
7. The agricultural irrigation robot as claimed in claim 6, wherein the bidirectional driving assembly comprises a double-shaft motor (33), two first bevel teeth (34) and two second bevel teeth (35), the double-shaft motor (33) is horizontally and fixedly mounted on the top of the lifting plate (7), one end of each horizontal moving assembly adjacent to each threaded rod (29) is respectively provided with a guide column (36), each second bevel tooth (35) is respectively vertically and fixedly mounted on one end of each guide column (36), each first bevel tooth (34) is respectively and fixedly connected with each output end of the rotary shaft motor, each first bevel tooth (34) is respectively and threadedly connected with each second bevel tooth (35), and the double-shaft motor (33) is electrically connected with the controller (3).
8. The agricultural irrigation robot as claimed in claim 7, wherein each turnover assembly comprises a horizontal plate (37), a third motor (38), a bearing frame (39) and a rotating plate (40), the horizontal plate (37) is horizontally and fixedly installed at the bottom of the sliding block (32), the third motor (38) is horizontally and fixedly installed at the bottom of the horizontal plate (37), the bearing frame (39) is vertically and fixedly installed at one end of the bottom of the horizontal plate (37), the output end of the third motor (38) can rotatably penetrate through two sides of the bearing frame (39) and extend outwards, the rotating plate (40) is vertically and fixedly installed at the output end of the third motor (38), the irrigation nozzle (8) is fixedly connected with one side of the rotating plate (40) far away from the bearing frame (39) through a fixing ring, and the third motor (38) is electrically connected with the controller (3).
9. An agricultural irrigation robot as claimed in claim 8, wherein a water pump (41) is provided at one end of the top of the horizontal support (9), the water pump (41) is connected to the water tank (2) through a second water pipe (43), the water pump (41) is connected to the first water pipe (42) of each irrigation nozzle (8), and the water pump (41) is electrically connected to the controller (3).
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| CN201911409764.5A CN110999763A (en) | 2019-12-31 | 2019-12-31 | Agricultural is with irrigating robot |
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| CN201911409764.5A CN110999763A (en) | 2019-12-31 | 2019-12-31 | Agricultural is with irrigating robot |
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| CN110999763A true CN110999763A (en) | 2020-04-14 |
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| CN201911409764.5A Pending CN110999763A (en) | 2019-12-31 | 2019-12-31 | Agricultural is with irrigating robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111557231A (en) * | 2020-06-05 | 2020-08-21 | 安徽国云智能科技有限公司 | Watering device that wisdom agricultural was used |
| CN111758537A (en) * | 2020-08-10 | 2020-10-13 | 王熙竣 | Automatic irrigation equipment of unmanned lawn |
| CN111820108A (en) * | 2020-07-24 | 2020-10-27 | 重庆电子工程职业学院 | Garden irrigation device and method based on computer control |
| CN111837898A (en) * | 2020-07-07 | 2020-10-30 | 河北科技师范学院 | Agricultural irrigation device convenient to remove |
| CN112075321A (en) * | 2020-08-25 | 2020-12-15 | 王进永 | Agriculture and forestry are planted with irrigating unmanned aerial vehicle and take off and land device |
| CN112370559A (en) * | 2020-11-27 | 2021-02-19 | 安徽省农业科学院蚕桑研究所 | Automatic disinfection robot for silkworm rearing room |
| CN112956404A (en) * | 2021-05-12 | 2021-06-15 | 宁夏诚建建设工程有限公司 | Energy-conserving irrigation equipment with adjustable hydraulic engineering is used |
| CN113057001A (en) * | 2021-03-20 | 2021-07-02 | 杨文广 | Crop is administered and is used rotatory fertilization system that sprays |
| CN113057154A (en) * | 2021-03-23 | 2021-07-02 | 山东理工大学 | Greenhouse liquid medicine spraying robot |
| CN113160506A (en) * | 2021-02-25 | 2021-07-23 | 西京学院 | Intelligent robot's alarm device |
| CN113367050A (en) * | 2021-06-04 | 2021-09-10 | 南京工业职业技术大学 | Energy-concerving and environment-protective irrigation equipment of new forms of energy |
| CN113424735A (en) * | 2021-07-06 | 2021-09-24 | 广州大学 | Intelligent greenhouse movable type accurate irrigation robot |
| CN114303899A (en) * | 2022-01-05 | 2022-04-12 | 重庆市欣季生态农业科技有限公司 | Irrigation equipment is planted to kiwi fruit |
| CN114342902A (en) * | 2022-01-21 | 2022-04-15 | 泉州启禾园农业科技有限公司 | Unmanned atomizing sprinkling machine |
| CN115997655A (en) * | 2023-01-04 | 2023-04-25 | 南京农业大学 | Watering robot |
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| CN111557231A (en) * | 2020-06-05 | 2020-08-21 | 安徽国云智能科技有限公司 | Watering device that wisdom agricultural was used |
| CN111837898A (en) * | 2020-07-07 | 2020-10-30 | 河北科技师范学院 | Agricultural irrigation device convenient to remove |
| CN111820108B (en) * | 2020-07-24 | 2022-01-21 | 重庆电子工程职业学院 | Garden irrigation device and method based on computer control |
| CN111820108A (en) * | 2020-07-24 | 2020-10-27 | 重庆电子工程职业学院 | Garden irrigation device and method based on computer control |
| CN111758537A (en) * | 2020-08-10 | 2020-10-13 | 王熙竣 | Automatic irrigation equipment of unmanned lawn |
| CN112075321A (en) * | 2020-08-25 | 2020-12-15 | 王进永 | Agriculture and forestry are planted with irrigating unmanned aerial vehicle and take off and land device |
| CN112370559A (en) * | 2020-11-27 | 2021-02-19 | 安徽省农业科学院蚕桑研究所 | Automatic disinfection robot for silkworm rearing room |
| CN113160506A (en) * | 2021-02-25 | 2021-07-23 | 西京学院 | Intelligent robot's alarm device |
| CN113057001A (en) * | 2021-03-20 | 2021-07-02 | 杨文广 | Crop is administered and is used rotatory fertilization system that sprays |
| CN113057154A (en) * | 2021-03-23 | 2021-07-02 | 山东理工大学 | Greenhouse liquid medicine spraying robot |
| CN112956404A (en) * | 2021-05-12 | 2021-06-15 | 宁夏诚建建设工程有限公司 | Energy-conserving irrigation equipment with adjustable hydraulic engineering is used |
| CN112956404B (en) * | 2021-05-12 | 2022-04-29 | 宁夏诚建建设工程有限公司 | Energy-conserving irrigation equipment with adjustable hydraulic engineering is used |
| CN113367050A (en) * | 2021-06-04 | 2021-09-10 | 南京工业职业技术大学 | Energy-concerving and environment-protective irrigation equipment of new forms of energy |
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| CN113424735A (en) * | 2021-07-06 | 2021-09-24 | 广州大学 | Intelligent greenhouse movable type accurate irrigation robot |
| CN114303899A (en) * | 2022-01-05 | 2022-04-12 | 重庆市欣季生态农业科技有限公司 | Irrigation equipment is planted to kiwi fruit |
| CN114342902A (en) * | 2022-01-21 | 2022-04-15 | 泉州启禾园农业科技有限公司 | Unmanned atomizing sprinkling machine |
| CN115997655A (en) * | 2023-01-04 | 2023-04-25 | 南京农业大学 | Watering robot |
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Application publication date: 20200414 |
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